This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators.
Author(s): Gallardo-Alvarado, Jaime
Edition: 1
Publisher: Springer International Publishing
Year: 2016
Language: English
Pages: 389
Tags: Machinery and Machine Elements; Robotics and Automation; Continuum Mechanics and Mechanics of Materials
Front Matter....Pages i-xxii
Front Matter....Pages 1-1
An Overview of the Theory of Screws....Pages 3-18
An Overview of Parallel Manipulators....Pages 19-28
Front Matter....Pages 29-29
Mathematical Background....Pages 31-63
Velocity Analysis....Pages 65-96
Front Matter....Pages 97-97
Acceleration Analysis....Pages 99-132
Jerk Analysis....Pages 133-158
Hyper-Jerk Analysis....Pages 159-186
Front Matter....Pages 187-187
3R2T Parallel Manipulator....Pages 189-203
Two-Degree-of-Freedom Parallel Wrist....Pages 205-217
3-RRPS Parallel Manipulator....Pages 219-235
3RRRS+3RRPS Parallel Manipulator....Pages 237-252
Front Matter....Pages 253-253
Gough’s Tyre Testing Machine....Pages 255-280
The Original Stewart Platform....Pages 281-299
Delta Robot....Pages 301-316
Front Matter....Pages 317-317
Full Answers to Selected Exercises....Pages 319-354
Appendix 1: A Simple Method to Compute the Rotation Matrix....Pages 355-356
Appendix 2: Computer Codes....Pages 357-370
Back Matter....Pages 371-377
